/*
 * angle.c
 *
 * Communicates with TAD2141 via SPI.
 *
 *  Created on: 2023/11/16
 */

/*
 * The MIT License (MIT)
 *
 * Copyright (c) 2023 Takayoshi Uemitsu (BestTechnology CO.,LTD.)
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 *
 */

#include "hal_data.h"

#include <stdint.h>
#include <stdbool.h>

#include "crc8.h"
#include "angle.h"

#include "trace.h"


#define RESET_VALUE             (0x00)

static volatile spi_event_t spi_master_event;    // Master Transfer Event completion flag

void sci_spi_callback (spi_callback_args_t *p_args) {
    if (SPI_EVENT_TRANSFER_COMPLETE == p_args->event) {
        spi_master_event = SPI_EVENT_TRANSFER_COMPLETE;
    } else {
        /* Updating the flag here to capture and handle all other error events */
        spi_master_event = SPI_EVENT_TRANSFER_ABORTED;
    }
}

static volatile int32_t g_wait_count = INT32_MAX;

static void sci_spi_event_check (void) {
    while (SPI_EVENT_TRANSFER_COMPLETE != spi_master_event) {
        g_wait_count--;
        if (RESET_VALUE >= g_wait_count) {
//            sci_spi_deinit();
        }
        /* All other error events are handled here */
        else if (SPI_EVENT_TRANSFER_ABORTED == spi_master_event) {
//            sci_spi_deinit();
        } else {
            /* Do nothing */
        }
    }
    g_wait_count = INT32_MAX;
}

#define CS_PIN          BSP_IO_PORT_01_PIN_10
#define CS_ASSERT       R_IOPORT_PinWrite(&g_ioport_ctrl, CS_PIN, BSP_IO_LEVEL_LOW);
#define CS_DE_ASSERT    R_IOPORT_PinWrite(&g_ioport_ctrl, CS_PIN, BSP_IO_LEVEL_HIGH);

static bool SPI_WriteRead (const uint8_t *tx, uint8_t *rx, uint32_t len) {
    spi_master_event = RESET_VALUE;
    CS_ASSERT;
    R_SCI_SPI_WriteRead (&g_spi2_ctrl, tx, rx, len, SPI_BIT_WIDTH_8_BITS);
    sci_spi_event_check ();
    CS_DE_ASSERT;
    return true;
}

// Read agnle by streaming
bool tad2141_readstream (uint16_t *ang, uint8_t *stat) {
    uint8_t r[5];

    if (SPI_WriteRead ((const uint8_t[5]){0x05, 0x55, 0x55, 0x55, 0x55}, r, 5)) {
        if (CalcCRC8 (&r[1], 3) == r[4]) {
            uint16_t *p = (uint16_t *)(void *)&r[1];
            if (ang != NULL) *ang = 65535UL - __builtin_bswap16 (*p);
            if (stat != NULL) *stat = r[3];
            return true;
        }
    }
    return false;
}

bool tad2141_init (uint16_t *ang, uint8_t *stat) {
    if (R_SCI_SPI_Open (&g_spi2_ctrl, &g_spi2_cfg) == FSP_SUCCESS) {
        CS_DE_ASSERT;
        tad2141_power (false);
        R_BSP_SoftwareDelay (100, BSP_DELAY_UNITS_MILLISECONDS);
        tad2141_power (true);
        R_BSP_SoftwareDelay (100, BSP_DELAY_UNITS_MILLISECONDS);

        return tad2141_readstream (ang, stat);
    }
    return false;
}

void tad2141_power (bool on) {
    __disable_irq ();
    if (on) {
        // power switch on
        R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_02, BSP_IO_LEVEL_HIGH);
        R_BSP_SoftwareDelay (100, BSP_DELAY_UNITS_MILLISECONDS);
        // SPI
        R_IOPORT_PinCfg(&g_ioport_ctrl, BSP_IO_PORT_01_PIN_10, ((uint32_t) IOPORT_CFG_PORT_DIRECTION_OUTPUT | (uint32_t) IOPORT_CFG_PORT_OUTPUT_HIGH));
        R_IOPORT_PinCfg(&g_ioport_ctrl, BSP_IO_PORT_01_PIN_11, ((uint32_t) IOPORT_CFG_PERIPHERAL_PIN | (uint32_t) IOPORT_PERIPHERAL_SCI0_2_4_6_8));
        R_IOPORT_PinCfg(&g_ioport_ctrl, BSP_IO_PORT_03_PIN_01, ((uint32_t) IOPORT_CFG_PERIPHERAL_PIN | (uint32_t) IOPORT_PERIPHERAL_SCI0_2_4_6_8));
        R_IOPORT_PinCfg(&g_ioport_ctrl, BSP_IO_PORT_03_PIN_02, ((uint32_t) IOPORT_CFG_PERIPHERAL_PIN | (uint32_t) IOPORT_PERIPHERAL_SCI0_2_4_6_8));
    } else {
        // power switch off
        R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_02, BSP_IO_LEVEL_LOW);
        // Set everything LOW so that the current from the SPI terminal does not feed the power supply.
        R_IOPORT_PinCfg(&g_ioport_ctrl, BSP_IO_PORT_01_PIN_10, ((uint32_t) IOPORT_CFG_PORT_DIRECTION_OUTPUT | (uint32_t) IOPORT_CFG_PORT_OUTPUT_LOW));
        R_IOPORT_PinCfg(&g_ioport_ctrl, BSP_IO_PORT_01_PIN_11, ((uint32_t) IOPORT_CFG_PORT_DIRECTION_OUTPUT | (uint32_t) IOPORT_CFG_PORT_OUTPUT_LOW));
        R_IOPORT_PinCfg(&g_ioport_ctrl, BSP_IO_PORT_03_PIN_01, ((uint32_t) IOPORT_CFG_PORT_DIRECTION_OUTPUT | (uint32_t) IOPORT_CFG_PORT_OUTPUT_LOW));
        R_IOPORT_PinCfg(&g_ioport_ctrl, BSP_IO_PORT_03_PIN_02, ((uint32_t) IOPORT_CFG_PORT_DIRECTION_OUTPUT | (uint32_t) IOPORT_CFG_PORT_OUTPUT_LOW));
    }
    __enable_irq ();
}

static inline void set_motor_dir (bool cw) {
    R_IOPORT_PinWrite (&g_ioport_ctrl, BSP_IO_PORT_01_PIN_02, cw ? BSP_IO_LEVEL_HIGH : BSP_IO_LEVEL_LOW);
}

static inline void set_motor_enable (bool en) {
    R_IOPORT_PinWrite (&g_ioport_ctrl, BSP_IO_PORT_01_PIN_03, en ? BSP_IO_LEVEL_LOW : BSP_IO_LEVEL_HIGH);
}

static bool ReadData (uint8_t addr, uint16_t *val) {
  if (addr > 127) return false;
  uint8_t r[10];
  if (!SPI_WriteRead ((uint8_t[7]){0x02, addr, 0x55, 0x55, 0x55, 0x55, 0x55}, r, 7)) return false;
  DBG ("%02x %02x %02x %02x %02x %02x %02x\n", r[0], r[1], r[2], r[3], r[4], r[5], r[6]);
  for (int i = 0; i < 2; i++) if (r[2 + i] != 0x7e) return false;
  if (r[4] != 0x81) return false;
  for (int i = 0; i < 1; i++) {
    uint16_t *p = (uint16_t *)(void *)&r[3 + 2];
    val[i] = __builtin_bswap16 (*p);
  }
  return true;
}

static bool WriteData (uint8_t addr, uint16_t val) {
  if (addr > 127) return false;
  uint8_t r[10];
  if (!SPI_WriteRead ((uint8_t[4]){0x03, addr, (uint8_t)(val >> 8), (uint8_t)(val & 0xff)}, r, 4)) return false;
  return true;
}

static void SPSub1_Program (void) {
    // Setup 'VRR=VRR0'
    WriteData (0x13, 0x000f);
    // Setup Write Data
    WriteData (0x16, 0);

    WriteData (0x15, (0 << 12) | (0 << 11) | (0 << 0));
}

#define Rec_Number  0
void tad2141_EOL_Programming (void) {
    sci_spi_div_setting_t clk_div;

    R_SCI_SPI_CalculateBitrate (1000000, &clk_div, true);

    // Auto-Calibration Procedure
    //  Motor speed:80~4000rpm
    //  Motor speed fluctuation (turn-to-turn):<0.1%/turn
    //  Acceleration from turn-to-turn will lead to higher angular error
    //  # turns during calibration: > 13
    //  The calibration is activated by an SPI write command to register ‘0x1d’. The format of the payload is displayed below
    //    15~14:0 13~11:rpm range 0:2k~4krpm 1:1k~2krpm, 2:500~1000rpm 3:250~500rpm 4:125~250rpm 5:80~125rpm
    //    10~1:address 0:enable
    // Write header of New Rec (by soak procedure)

    R_AGT_Disable (&g_timer0_ctrl);

    // ---Power-On & send valid SPI signature
    tad2141_power (false);
    R_BSP_SoftwareDelay (500, BSP_DELAY_UNITS_MILLISECONDS);
    tad2141_power (true);

    // CMD_WRITE_REG
    // spi signature
    // Address = 8'h23
    // Data = 16'hf862
    WriteData (0x23, 0xf862);

    // ---Start constant speed rotation of magnetic field
    set_motor_dir (0);
    R_GPT_DutyCycleSet (&g_timer5_ctrl, 900, GPT_IO_PIN_GTIOCB);
    set_motor_enable (true);
    R_BSP_SoftwareDelay (1000, BSP_DELAY_UNITS_MILLISECONDS);

    // ---When motor @ constant speed, start “Auto Calibration Mode”
    // SPI CMD_WRITE_REG@dsp_calibrationAddress = 8'h1dData = {5'b00000, Start OTPaddress[10:1], 1'b1}
    DBG ("start auto cal mode\n");
    uint16_t rg = (5 << 11) | ((993 - 67 * Rec_Number) << 1) | 1;
    WriteData (0x1d, rg);


    // ASIC performs“Dynamic compensation”And “Static Compensation”
    // ASIC stores Dynamic and Static compensation parameters in OTP

    // ---Calibration mode finished ?
    for (int i = 0; i < 150; i++) {
        uint16_t r16;
        if (ReadData (0x10, &r16)) DBG ("(%d/%d)r=%d\n",i,150,r16);
        R_BSP_SoftwareDelay (100, BSP_DELAY_UNITS_MILLISECONDS);
    }

    // Auto-Calib soak




    // End
    R_SCI_SPI_CalculateBitrate (10000000, &clk_div, true);

    R_GPT_DutyCycleSet (&g_timer5_ctrl, 0, GPT_IO_PIN_GTIOCB);
    set_motor_enable (false);
    tad2141_power (false);

    R_AGT_Enable (&g_timer0_ctrl);
}
